Laser radar ray machine and laser radar

Abstract

The utility model provides a laser radar optical machine and a laser radar. The laser radar ray machine comprises a transmitter, a transmitting optical module, a transmitting lens cone, a receiver, a receiving optical module and a receiving lens cone, and the transmitter is configured to emit a detection light beam; the transmitting optical module is arranged in the transmitting lens cone and is located on a light path of the detection light beam emitted by the transmitter; the receiver is configured to receive echoes formed by reflecting the detection light beams by an object; the receiving optical module is arranged in the receiving lens cone and is positioned on the light path of the echo; a first light leakage hole is formed in the barrel wall of the transmitting lens barrel, and / or a second light leakage hole is formed in the barrel wall of the receiving lens barrel. The first light leakage hole is formed in the barrel wall of the transmitting lens barrel, and / or the second light leakage hole is formed in the barrel wall of the receiving lens barrel, so that stray light can be emitted from the first light leakage hole / the second light leakage hole, and interference of the stray light to the laser radar is reduced.

Description

Technical Field

[0001] The present disclosure generally relates to the field of laser radar technology, and more particularly to a laser radar optical engine and a laser radar. Background Art

[0002] LiDAR (Light Detection and Ranging) is a device that uses laser technology to measure distances. It measures the distance to a target object by emitting a probe beam (laser) and receiving the echo formed by the probe beam's reflection from the object. The optical engine of a LiDAR is one of its core components. It integrates the optical system for emitting and receiving laser light, including a laser transmitter, laser receiver, optical lens, reflector, and lens barrel.

[0003] In some LiDAR optical systems, stray light can converge and reflect from certain areas on the inner wall of the lens barrel, negatively impacting LiDAR detection accuracy. To reduce stray light interference, one solution is to add a light extinction structure to the inner wall of the lens barrel. However, this structure is complex and costly to manufacture.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field. Utility Model Content

[0005] In view of one or more defects in the prior art, the present disclosure provides a laser radar optical machine, including a transmitter, a transmitting optical module, a transmitting lens barrel, a receiver, a receiving optical module and a receiving lens barrel, wherein:

[0006] The emitter is configured to emit a probe beam;

[0007] The transmitting optical module is arranged in the transmitting lens barrel and is located on the optical path of the detection light beam emitted by the transmitter;

[0008] The receiver is configured to receive an echo formed by reflection of the detection beam by an object;

[0009] The receiving optical module is installed in the receiving lens barrel and is located on the optical path of the echo;

[0010] A first light leakage hole is provided on the wall of the transmitting lens barrel, and / or a second light leakage hole is provided on the wall of the receiving lens barrel.

[0011] Optionally, the transmitting optical module includes a first transmitting lens and a first reflecting mirror, and the transmitting lens barrel includes a first lens barrel section and a second lens barrel section sequentially arranged along the optical path of the detection light beam;

[0012] The first emitting lens is arranged in the first lens barrel section, and the first reflecting mirror is arranged between the first lens barrel section and the second lens barrel section.

[0013] Optionally, the first light leakage hole is provided on the wall of the first lens barrel section and is located between the emitter and the first reflector.

[0014] Optionally, the inner wall of the emitting lens barrel is provided with a first positioning rib and a first supporting platform, and the first emitting lens is arranged against the first positioning rib and the first supporting platform.

[0015] Optionally, the emission optical module further includes a second emission lens, and the second emission lens is arranged in the first lens barrel segment;

[0016] The inner wall of the emitting lens barrel is provided with a second positioning rib and a second supporting platform, and the second emitting lens is arranged against the second positioning rib and the second supporting platform.

[0017] Optionally, the second emitting lens is located on the upstream side of the optical path of the first emitting lens, and the distance between the table top of the second supporting platform and the central axis of the first barrel segment is greater than the distance between the table top of the first supporting platform and the central axis of the first barrel segment.

[0018] Optionally, a first cutout is provided between the first lens barrel segment and the second lens barrel segment, and the first reflector is provided at the first cutout.

[0019] Optionally, the receiving optical module includes a first receiving lens and a second reflecting mirror, and the receiving lens barrel includes a third lens barrel segment and a fourth lens barrel segment sequentially arranged along the optical path of the echo;

[0020] Wherein, the first receiving lens is arranged in the fourth lens barrel segment, and the second reflecting mirror is arranged between the third lens barrel segment and the fourth lens barrel segment.

[0021] Optionally, the second light leakage hole is provided in the fourth lens barrel segment.

[0022] Optionally, the inner wall of the receiving lens barrel is provided with a third positioning rib and a third supporting platform, and the first receiving lens is arranged against the third positioning rib and the third supporting platform.

[0023] Optionally, the receiving optical module further includes a second receiving lens, and the second receiving lens is disposed in the fourth lens barrel segment;

[0024] The inner wall of the receiving lens barrel is provided with a fourth positioning rib and a fourth supporting platform, and the second receiving lens is arranged against the fourth positioning rib and the fourth supporting platform.

[0025] Optionally, the second receiving lens is located on the downstream side of the optical path of the first receiving lens, and the distance between the table top of the fourth supporting platform and the central axis of the fourth lens barrel segment is greater than the distance between the table top of the third supporting platform and the central axis of the fourth lens barrel segment.

[0026] Optionally, a second cutout is provided between the third lens barrel segment and the fourth lens barrel segment, and the second reflector is provided at the second cutout.

[0027] Optionally, the laser radar optical engine further includes a beam splitter, which is located at the exit of the transmitting lens barrel and on the optical path of the detection beam.

[0028] Optionally, the transmitting lens barrel and the receiving lens barrel are integrally arranged.

[0029] The present disclosure also provides a laser radar, comprising the laser radar optical machine as described above.

[0030] Compared with the prior art, the embodiments of the present disclosure provide a laser radar optical engine. By setting a first light leakage hole on the wall of the transmitting lens barrel and / or setting a second light leakage hole on the wall of the receiving lens barrel, stray light can be emitted from the first light leakage hole / second light leakage hole, thereby reducing the interference of stray light on the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will provide an exemplary introduction to the drawings used in the description of the embodiments. The drawings described below are only embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without inventive work. The drawings are used to provide a further understanding of the present disclosure and constitute part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings:

[0032] Figure 1 shows a top view of a lidar optical engine according to an embodiment of the present disclosure;

[0033] Figure 2 shows a cross-sectional view of a lidar optical engine according to an embodiment of the present disclosure;

[0034] Figure 3 shows an optical path diagram of a laser radar optical machine according to an embodiment of the present disclosure;

[0035] Figure 4 A cross-sectional view of a transmitting lens barrel and a receiving lens barrel according to an embodiment of the present disclosure is shown.

[0036] In the figure: 100, laser radar optical engine; 110, transmitter; 120, transmitting optical module; 121, first transmitting lens; 122, first reflector; 123, second transmitting lens; 124, third transmitting lens; 130, transmitting lens barrel; 131, first lens barrel section; 1311, first positioning rib; 1312, first supporting platform; 1313, first glue injection hole; 1314, second positioning rib; 1315, second supporting platform; 1316, second glue injection hole; 132, second lens barrel section; 1321, fifth positioning rib; 1322, fifth supporting platform; 1323, fifth glue injection hole; 133, first incision; 134, first positioning surface; 135, first supporting surface; 136, first positioning structure; 140, receiver; 150, Receiving optical module; 151, first receiving lens; 152, second reflecting mirror; 153, second receiving lens; 154, third receiving lens; 160, receiving lens barrel; 161, third lens barrel section; 1611, sixth positioning rib; 1612, sixth supporting platform; 1613, sixth glue injection hole; 162, fourth lens barrel section; 1621, third positioning rib; 1622, third supporting platform; 1623, third glue injection hole; 1624, fourth positioning rib; 1625, fourth supporting platform; 1626, fourth glue injection hole; 163, second incision; 164, second positioning surface; 165, second supporting surface; 166, second positioning structure; 167, third supporting surface; 170, first light leakage hole; 180, second light leakage hole; 190, beam splitter. DETAILED DESCRIPTION

[0037] Hereinafter, only certain exemplary embodiments are described by way of example. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0038] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0039] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0040] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0041] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0042] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0043] Figure 1 1 shows a top view of a laser radar optical engine 100 according to an embodiment of the present disclosure, Figure 2 1 shows a cross-sectional view of a laser radar optical engine 100 according to an embodiment of the present disclosure, Figure 3 The optical path diagram of the laser radar optical machine 100 according to the embodiment of the present disclosure is shown below. Figures 1 to 3 Provide a detailed description.

[0044] like Figures 1 to 3 As shown, the laser radar optical machine 100 includes a transmitter 110, a transmitting optical module 120, a transmitting lens barrel 130, a receiver 140, a receiving optical module 150 and a receiving lens barrel 160. The transmitting optical module 120 is arranged in the transmitting lens barrel 130, and the receiving optical module 150 is arranged in the receiving lens barrel 160. Both ends (input end, output end) of the transmitting lens barrel 130 and both ends (input end, output end) of the receiving lens barrel 160 are provided with openings. The transmitter 110 is arranged at the input end ( Figure 1 The transmitter 110 can emit a detection beam. The detection beam emitted by the transmitter 110 enters the transmitting lens barrel 130 from the injection end thereof, is modulated by the transmitting optical module 120, and is emitted from the emission end ( Figure 1 The detection beam is reflected by the object to form an echo, which is then received by the incident end of the receiving lens 160 ( Figure 1 The light is incident on the receiving lens barrel 160 and is modulated by the receiving optical module 150 and then emitted from the emission end ( Figure 1 The receiver 140 is provided at the emission end of the receiving lens barrel 160. The receiver 140 can receive the echo.

[0045] The transmitter 110 includes, for example, a semiconductor laser, a fiber laser, or another type of laser. Semiconductor lasers include, for example, laser emitting circuits, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), distributed feedback lasers (DFBs), or similar devices. The above is merely an example, and the embodiments of the present disclosure do not limit the type of laser.

[0046] The receiver 140 may include, for example, a photodetection circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or a similar device. The above are merely examples, and the embodiments of the present disclosure do not limit the type of detector.

[0047] In some embodiments, a first light leak hole 170 may be provided on the wall of the transmitting lens barrel 130 so that at least some of the stray light in the transmitting lens barrel 130 is emitted from the first light leak hole 170, thereby reducing the interference of stray light. In some embodiments, a second light leak hole 180 may be provided on the wall of the receiving lens barrel 160 so that at least some of the stray light in the receiving lens barrel 160 is emitted from the second light leak hole 180, thereby reducing the interference of stray light. Optionally, both the first light leak hole 170 and the second light leak hole 180 may be provided, or only the first light leak hole 170 may be provided on the wall of the transmitting lens barrel 130, or only the second light leak hole 180 may be provided on the wall of the receiving lens barrel 160. Optionally, the first light leak hole 170 and / or the second light leak hole 180 may be provided at a location (wall) where more stray light is generated or gathered, so that more stray light is emitted from the lens barrel, further reducing the interference of stray light.

[0048] According to one embodiment of the present disclosure, one or more first light leakage holes 170 may be provided. For example, one or more areas of the upper wall, lower wall, and rear wall of the emitting lens barrel 130 may be provided with first light leakage holes 170 to allow more stray light to leak out and further reduce the interference of stray light.

[0049] According to one embodiment of the present disclosure, one or more second light leakage holes 180 may be provided. For example, one or more areas of the upper wall and the lower wall of the receiving lens barrel 160 may be provided with first light leakage holes 170, respectively, to allow more stray light to leak out and further reduce the interference of stray light.

[0050] According to the embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the transmitting lens barrel 130 includes a first lens barrel section 131 and a second lens barrel section 132, sequentially arranged along the optical path of the detection beam. The first lens barrel section 131 and the second lens barrel section 132 are interconnected and form a preset angle between them. The preset angle is, for example, in the range of 80°-100°, such as 90°. The transmitting optical module 120 may include a first transmitting lens 121 and a first reflector 122. The first transmitting lens 121 is disposed in the first lens barrel section 131 and can shape the detection beam. The first reflector 122 is disposed between the first lens barrel section 131 and the second lens barrel section 132. The first reflector 122 can redirect the detection beam by reflection, directing the detection beam from the first lens barrel section 131 to the second lens barrel section 132. Optionally, a first light leakage hole 170 can be disposed on the wall of the first lens barrel section 131, between the transmitter 110 and the first reflector 122, to reduce stray light.

[0051] Figure 4 1 shows a cross-sectional view of the transmitting lens barrel 130 and the receiving lens barrel 160 according to an embodiment of the present disclosure, as shown in FIG. Figures 2 to 4 As shown, a first cutout 133 can be provided between the first barrel section 131 and the second barrel section 132, and the first reflector 122 is provided at the first cutout 133. Optionally, a high-precision first positioning surface 134 can be formed at the first cutout 133, and the first reflector 122 is provided against the first positioning surface 134.

[0052] According to one embodiment of the present disclosure, Figures 2 to 4As shown, a first positioning rib 1311 and a first supporting platform 1312 can be provided on the inner wall of the first barrel section 131. The first positioning rib 1311 and the first supporting platform 1312 can be high-precision processing structures. The first positioning rib 1311 is located on the downstream side of the optical path of the first supporting platform 1312. The first emitting lens 121 can be arranged against the first supporting platform 1312 and the first positioning rib 1311. Among them, the first positioning rib 1311 and the first supporting platform 1312 can be a continuous structure arranged around the inner wall of the first barrel section 131, or a multi-stage structure (for example, a certain distance is separated between adjacent two stages) arranged around the inner wall of the first barrel section 131. By providing support and positioning for the first emitting lens 121 through the first positioning rib 1311 and the first supporting platform 1312, the installation accuracy of the first emitting lens 121 can be guaranteed, while reducing the high-precision processing surface in the emitting barrel 130, which is conducive to reducing the processing difficulty and processing cost of the emitting barrel 130. Optionally, the first emitting lens 121 and the first supporting platform 1312 can be fixed by an adhesive. Optionally, a first glue injection hole 1313 is provided on the wall of the first barrel section 131, and the first glue injection hole 1313 is located near the first supporting platform 1312 to facilitate the addition of adhesive between the first emitting lens 121 and the first supporting platform 1312.

[0053] According to one embodiment of the present disclosure, Figures 2 to 4 As shown, the emission optical module 120 may further include a second emission lens 123. A second positioning rib 1314 and a second supporting platform 1315 are provided on the inner wall of the first barrel section 131. The second positioning rib 1314 and the second supporting platform 1315 may be high-precision processed structures. The second positioning rib 1314 is located on the downstream side of the optical path of the second supporting platform 1315. The second emission lens 123 may be arranged against the second supporting platform 1315 and the second positioning rib 1314. Among them, the second positioning rib 1314 and the second supporting platform 1315 may be a continuous structure arranged around the inner wall of the first barrel section 131, or may be a multi-segment structure arranged around the inner wall of the first barrel section 131 (for example, a certain distance is separated between two adjacent sections). By providing support and positioning for the second emitting lens 123 through the second positioning rib 1314 and the second supporting platform 1315, the installation accuracy of the second emitting lens 123 can be ensured, while reducing the high-precision processing surface in the emitting lens barrel 130, which is conducive to reducing the processing difficulty and processing cost of the emitting lens barrel 130. Optionally, the second emitting lens 123 and the second supporting platform 1315 can be fixed by an adhesive. Optionally, a second glue injection hole 1316 is provided on the barrel wall of the first barrel section 131, and the second glue injection hole 1316 is located near the second supporting platform 1315 to facilitate the addition of adhesive between the second emitting lens 123 and the second supporting platform 1315.

[0054] According to the embodiments of the present disclosure, Figures 2 to 4 As shown, the second emitting lens 123 is located on the upstream side of the optical path of the first emitting lens 121, and the size of the second emitting lens 123 can be larger than that of the first emitting lens 121. The second positioning rib 1314 and the second supporting platform 1315 are located on the upstream side of the optical path of the first positioning rib 1311 and the first supporting platform 1312. The distance between the table top of the second supporting platform 1315 and the central axis of the first barrel section 131 is greater than the distance between the table top of the first supporting platform 1312 and the central axis of the first barrel section 131. This facilitates the assembly of the first emitting lens 121 and the second emitting lens 123.

[0055] According to the embodiments of the present disclosure, Figures 2 to 4 As shown, the receiving lens barrel 160 includes a third lens barrel section 161 and a fourth lens barrel section 162, which are arranged sequentially along the optical path of the echo. The third lens barrel section 161 and the fourth lens barrel section 162 are connected, and a preset angle is formed between them. The preset angle is, for example, in the range of 80°-100°, such as 90°. The receiving optical module 150 includes a first receiving lens 151 and a second reflector 152. The first receiving lens 151 is arranged in the fourth lens barrel section 162 and can shape the echo. The second reflector 152 is arranged between the third lens barrel section 161 and the fourth lens barrel section 162. The second reflector 152 can change the propagation direction of the echo by reflection, allowing the echo to enter the fourth lens barrel section 162 from the third lens barrel section 161. Optionally, a second light leakage hole 180 can be provided on the wall of the fourth lens barrel section 162.

[0056] According to the embodiments of the present disclosure, Figures 2 to 4 As shown, a second notch 163 can be provided between the third barrel segment 161 and the fourth barrel segment 162, and the second reflector 152 is provided at the second notch 163. Alternatively, the second notch 163 is provided outside the transition between the third barrel segment 161 and the fourth barrel segment 162. A high-precision second positioning surface 164 can be formed at the second notch 163, and the second reflector 152 is provided against the second positioning surface 164.

[0057] According to the embodiments of the present disclosure, Figures 2 to 4As shown, the third positioning rib 1621 and the third support platform 1622 can be set at the inwall of the 4th lens barrel section 162. The third positioning rib 1621 and the third support platform 1622 can be high-precision machining structures. The third positioning rib 1621 is located at the optical path downstream side of the 3rd support platform 1622. The first receiving lens 151 is provided with abutting the 3rd support platform 1622 and the third positioning rib 1621. Wherein, the third positioning rib 1621 and the third support platform 1622 can be the continuity structure that the inwall that surrounds the 4th lens barrel section 162 is provided with, and can also be the multi-segment structure (for example, at a certain distance between adjacent two sections) that the inwall that surrounds the 4th lens barrel section 162 is provided with. Provide support and positioning for the first receiving lens 151 by the third positioning rib 1621 and the third support platform 1622, can ensure the installation accuracy of the first receiving lens 151, reduce the high-precision machining surface in the receiving lens barrel 160 simultaneously, help reduce the processing difficulty and the processing cost of receiving lens barrel 160. Optionally, the first receiving lens 151 and the third supporting platform 1622 may be fixed with an adhesive. Optionally, a third glue injection hole 1623 is provided on the wall of the fourth barrel section 162, and the third glue injection hole 1623 is located near the third supporting platform 1622. This facilitates the addition of adhesive between the first receiving lens 151 and the third supporting platform 1622.

[0058] According to the embodiments of the present disclosure, Figures 2 to 4 As shown, the receiving optical module 150 may further include a second receiving lens 153. A fourth positioning rib 1624 and a fourth supporting platform 1625 are provided on the inner wall of the fourth barrel segment 162. The fourth positioning rib 1624 and the fourth supporting platform 1625 are high-precision machined structures. The fourth positioning rib 1624 is located on the downstream side of the optical path of the fourth supporting platform 1625, and the second receiving lens 153 is arranged against the fourth supporting platform 1625 and the fourth positioning rib 1624. The fourth positioning rib 1624 and the fourth supporting platform 1625 can be a continuous structure arranged around the inner wall of the fourth barrel segment 162, or a multi-segment structure arranged around the inner wall of the fourth barrel segment 162 (for example, a certain distance is separated between two adjacent segments). By providing support and positioning for the second receiving lens 153 through the fourth positioning rib 1624 and the fourth supporting platform 1625, the installation accuracy of the second receiving lens 153 can be guaranteed, while reducing the high-precision processing surface in the receiving lens barrel 160, which is conducive to reducing the processing difficulty and processing cost of the receiving lens barrel 160. Optionally, the second transmitting lens 123 and the second supporting platform 1315 can be fixed by an adhesive. Optionally, a fourth glue injection hole 1626 is provided on the barrel wall of the fourth barrel section 162, and the fourth glue injection hole 1626 is located near the fourth supporting platform 1625. This facilitates the addition of adhesive between the second receiving lens 153 and the fourth supporting platform 1625.

[0059] According to the embodiments of the present disclosure, Figures 2 to 4 As shown, the second receiving lens 153 is located on the downstream side of the optical path of the first receiving lens 151, and the size of the second receiving lens 153 can be larger than that of the first receiving lens 151. The fourth positioning rib 1624 and the fourth supporting platform 1625 are located on the downstream side of the optical path of the third positioning rib 1621 and the third supporting platform 1622. The distance between the table top of the fourth supporting platform 1625 and the central axis of the fourth lens barrel section 162 can be greater than the distance between the table top of the third supporting platform 1622 and the central axis of the third lens barrel section 161. This can facilitate the assembly of the first receiving lens 151 and the second receiving lens 153.

[0060] According to the embodiments of the present disclosure, Figures 2 to 4 As shown, the emission optical module 120 may further include a third emission lens 124. A fifth positioning rib 1321 and a fifth supporting platform 1322 are provided on the inner wall of the second barrel section 132. The fifth positioning rib 1321 and the fifth supporting platform 1322 may be high-precision machined structures. The fifth positioning rib 1321 may be located on the downstream side or upstream side of the optical path of the fifth supporting platform 1322. The third emission lens 124 may be arranged against the fifth supporting platform 1322 and the fifth positioning rib 1321. The fifth positioning rib 1321 and the fifth supporting platform 1322 may be a continuous structure arranged around the inner wall of the second barrel section 132, or a multi-segment structure arranged around the inner wall of the second barrel section 132. By providing support and positioning for the third emitting lens 124 through the fifth positioning rib 1321 and the fifth supporting platform 1322, the installation accuracy of the third emitting lens 124 can be guaranteed, while reducing the high-precision processing surface in the emitting lens barrel 130, which is conducive to reducing the processing difficulty and processing cost of the emitting lens barrel 130. Optionally, the third emitting lens 124 and the fifth supporting platform 1322 can be fixed by an adhesive. Optionally, a fifth glue injection hole 1323 can be provided on the barrel wall of the second barrel section 132, and the fifth glue injection hole 1323 is located near the fifth supporting platform 1322. This is to facilitate the addition of adhesive between the third emitting lens 124 and the fifth supporting platform 1322.

[0061] According to the embodiments of the present disclosure, Figures 2 to 4As shown, the receiving optical module 150 can also include the third receiving lens 154. The inwall of the third lens barrel section 161 is provided with a sixth positioning rib 1611 and a sixth bearing platform 1612. The sixth positioning rib 1611 and the sixth bearing platform 1612 can be high-precision processing structures. The sixth positioning rib 1611 is positioned at the optical path downstream side or downstream side of the sixth bearing platform 1612. The third receiving lens 154 is provided against the sixth bearing platform 1612 and the sixth positioning rib 1611. Wherein, the sixth positioning rib 1611 and the sixth bearing platform 1612 can be a continuous structure that is provided with around the inwall of the third lens barrel section 161, or can be a multi-segment structure that is provided with around the inwall of the third lens barrel section 161. By providing support and positioning for the third receiving lens 154 through the sixth positioning rib 1611 and the sixth bearing platform 1612, the installation accuracy of the third receiving lens 154 can be guaranteed, and the high-precision processing surface in the receiving lens barrel 160 can be reduced, which is conducive to reducing the processing difficulty and processing cost of the receiving lens barrel 160. Optionally, the third receiving lens 154 and the sixth bearing platform 1612 can be fixed by an adhesive. Optionally, a sixth glue injection hole 1613 can be provided on the barrel wall of the third lens barrel section 161, and the sixth glue injection hole 1613 is located near the sixth bearing platform 1612. So as to add adhesive between the third receiving lens 154 and the sixth bearing platform 1612.

[0062] According to the embodiments of the present disclosure, Figure 2 and Figure 4 As shown, a first bearing surface 135 and a first positioning structure 136 are provided on the end surface of the incident end of the emitting lens barrel 130. The first bearing surface 135 can be a high-precision machined surface with good surface flatness and accuracy. The first positioning structure 136 includes one or more of a positioning groove, a positioning column, and a positioning hole. For example Figure 4 In the embodiment shown, the first positioning structure 136 includes two mutually parallel positioning grooves. The emitter 110 is placed against the first supporting surface 135 and achieves precise positioning through cooperation with the first positioning structure 136.

[0063] According to the embodiments of the present disclosure, Figure 2 and Figure 4 As shown, a second bearing surface 165 and a second positioning structure 166 are provided on the end surface of the emitting end of the receiving lens barrel 160. The second bearing surface 165 can be a high-precision machined surface with good surface flatness and accuracy. The second positioning structure 166 includes one or more of a positioning groove, a positioning column, and a positioning hole. For example Figure 4 In the illustrated embodiment, the first positioning structure 136 includes a positioning post. The receiver 140 is disposed against the second bearing surface 165 and achieves precise positioning through cooperation with the second positioning structure 166.

[0064] According to the embodiments of the present disclosure, Figure 4 As shown, the transmitting lens barrel 130 and the receiving lens barrel 160 are integrally arranged, which can reduce assembly steps and improve manufacturing efficiency. Optionally, the second lens barrel section 132 of the transmitting lens barrel 130 and the fourth lens barrel section 162 of the receiving lens barrel 160 are arranged side by side, and the two are generally parallel, with the emission end of the transmitting lens barrel 130 adjacent to the injection end of the receiving lens barrel 160. In some embodiments, the transmitting lens barrel 130 and the receiving lens barrel 160 can also be arranged separately to facilitate separate optimization and adjustment.

[0065] According to the embodiments of the present disclosure, Figure 2 and Figure 4 As shown, a third bearing surface 167 is provided on the end face of the incident end of the receiving lens barrel 160. The third bearing surface 167 can be a high-precision machined surface with excellent surface flatness and accuracy. The laser radar optical engine 100 can also include a beam splitter 190. The beam splitter 190 can be located in the optical path of the detection beam. The beam splitter 190 can be located in the optical path of the echo. The beam splitter 190 can separate the detection beam and the echo. The beam splitter 190 is placed against the third bearing surface 167 and aligned with the exit (emission end) of the transmitting lens barrel 130.

[0066] The present disclosure also provides a laser radar, comprising the laser radar optical engine 100 described above. The laser radar may further comprise a circuit board, a housing, and a window. The housing and the window may form a housing, and the laser radar optical engine 100 may be disposed within the housing. The laser radar's transmitter and receiver may be electrically connected to the circuit board.

[0067] Compared with the prior art, the embodiments of the present disclosure provide a laser radar optical engine 100. By setting a first light leakage hole 170 on the wall of the transmitting lens barrel 130 and / or setting a second light leakage hole 180 on the wall of the receiving lens barrel 160, stray light can be emitted from the first light leakage hole 170 / the second light leakage hole 180, thereby reducing the interference of stray light on the laser radar.

[0068] Finally, it should be noted that the above description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features therein. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A laser radar optical machine, characterized in that: It includes a transmitter, a transmitting optical module, a transmitting lens barrel, a receiver, a receiving optical module and a receiving lens barrel, wherein: The emitter is configured to emit a probe beam; The transmitting optical module is arranged in the transmitting lens barrel and is located on the optical path of the detection light beam emitted by the transmitter; The receiver is configured to receive an echo formed by reflection of the detection beam by an object; The receiving optical module is installed in the receiving lens barrel and is located on the optical path of the echo; A first light leakage hole is provided on the wall of the transmitting lens barrel, and / or a second light leakage hole is provided on the wall of the receiving lens barrel.

2. The laser radar optical machine according to claim 1, characterized in that: The transmitting optical module includes a first transmitting lens and a first reflecting mirror, and the transmitting lens barrel includes a first lens barrel section and a second lens barrel section sequentially arranged along the optical path of the detection light beam; The first emitting lens is arranged in the first lens barrel section, and the first reflecting mirror is arranged between the first lens barrel section and the second lens barrel section.

3. The laser radar optical machine according to claim 2, characterized in that: The first light leakage hole is arranged on the wall of the first lens barrel section and is located between the emitter and the first reflector.

4. The laser radar optical machine according to claim 2, characterized in that: The inner wall of the emitting lens barrel is provided with a first positioning rib and a first supporting platform, and the first emitting lens is arranged against the first positioning rib and the first supporting platform.

5. The laser radar optical machine according to claim 4, characterized in that: The emission optical module further includes a second emission lens, which is arranged in the first lens barrel segment; The inner wall of the emitting lens barrel is provided with a second positioning rib and a second supporting platform, and the second emitting lens is arranged against the second positioning rib and the second supporting platform.

6. The laser radar optical machine according to claim 5, characterized in that: The second emitting lens is located on the upstream side of the optical path of the first emitting lens, and the distance between the table top of the second supporting platform and the central axis of the first barrel section is greater than the distance between the table top of the first supporting platform and the central axis of the first barrel section.

7. The laser radar optical machine according to claim 2, characterized in that: A first cutout is provided between the first lens barrel section and the second lens barrel section, and the first reflector is provided at the first cutout.

8. The laser radar optical machine according to claim 1, characterized in that: The receiving optical module includes a first receiving lens and a second reflecting mirror, and the receiving lens barrel includes a third lens barrel section and a fourth lens barrel section sequentially arranged along the optical path of the echo; Wherein, the first receiving lens is arranged in the fourth lens barrel segment, and the second reflecting mirror is arranged between the third lens barrel segment and the fourth lens barrel segment.

9. The laser radar optical machine according to claim 8, characterized in that: The second light leakage hole is arranged in the fourth lens barrel segment.

10. The laser radar optical machine according to claim 8, characterized in that: The inner wall of the receiving lens barrel is provided with a third positioning rib and a third supporting platform, and the first receiving lens is arranged against the third positioning rib and the third supporting platform.

11. The laser radar optical machine according to claim 10, characterized in that: The receiving optical module further includes a second receiving lens, which is arranged in the fourth lens barrel segment; The inner wall of the receiving lens barrel is provided with a fourth positioning rib and a fourth supporting platform, and the second receiving lens is arranged against the fourth positioning rib and the fourth supporting platform.

12. The laser radar optical machine according to claim 11, characterized in that: The second receiving lens is located on the downstream side of the optical path of the first receiving lens, and the distance between the table top of the fourth supporting platform and the central axis of the fourth lens barrel segment is greater than the distance between the table top of the third supporting platform and the central axis of the fourth lens barrel segment.

13. The laser radar optical machine according to claim 8, characterized in that: A second cutout is provided between the third lens barrel segment and the fourth lens barrel segment, and the second reflecting mirror is provided at the second cutout.

14. The laser radar optical machine according to claim 1, characterized in that: The laser radar optical engine also includes a beam splitter, which is located at the exit of the transmitting lens barrel and is located on the optical path of the detection light beam.

15. The laser radar optical machine according to any one of claims 1 to 14, characterized in that: The transmitting lens barrel and the receiving lens barrel are integrally arranged.

16. A laser radar, characterized in that: A laser radar optical machine comprising any one of claims 1-15.

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